MG92F102 Programming Guide

MAKING MODERN LIVING POSSIBLE
Programming Guide
VLT® DeviceNet MCA 104
VLT® Frequency Converter Series • FC 102 • FC 202 • FC 301/302
vlt-drives.danfoss.com
Contents Programming Guide
Contents
1 Introduction 3
1.1 Purpose of the Manual 3
1.2 Additional Resources 3
1.3 Document and Software Version 3
1.4 Product Overview 3
1.5 Approvals and Certifications 4
1.6 Symbols, Abbreviations and Conventions 4
2 Safety 5
2.1 Safety Symbols 5
2.2 Qualified Personnel 5
2.3 Safety Precautions 5
3 Configuration 7
3.1 Configure the DeviceNet Network 7
3.2 Configure the Master 8
3.3 Configure the Frequency Converter 8
4 Control 9
4.1 DeviceNet Process Control Modes 9
4.2 I/O Assembly Instances 10
4.3 Process Data 10
4.4 ODVA Control Profile 11
4.5 FC Control Profile 13
5 Parameter Access 17
5.1 Explicit Messages 17
5.2 Object Classes 17
5.3 DeviceNet Object Classes 18
5.4 Danfoss Object Classes 27
6 Parameters 28
6.1 Parameter Description 28
6.2 Parameter List 36
6.3 Data Types Supported 37
7 Application Examples 38
7.1 Example: Working with Instance 101/151 Process 38
8 Troubleshooting 40
8.1 LED Status 40
8.2 No Communication with the Frequency Converter 41
MG92F102 Danfoss A/S © 12/2015 All rights reserved. 1

Contents VLT® DeviceNet MCA 104
8.3 Frequency Converter Does Not Respond to Control Signals 41

8.4 Warnings and Alarms 44
Index 46
2 Danfoss A/S © 12/2015 All rights reserved. MG92F102

Introduction Programming Guide
1 Introduction 1 1
1.1 Purpose of the Manual 1.4 Product Overview

The VLT® DeviceNet MCA 104 Programming Guide provides This programming guide relates to the DeviceNet interface.
information about configuring the system, controlling the Ordering number:
frequency converter, parameter access, programming, • 130B1102 (non-coated version).
troubleshooting, and some typical application examples.
• 130B1210 (conformal coated version).
The programming guide is intended for use by qualified
DeviceNet is a low-level network that standardizes
personnel who are familiar with the VLT® frequency
communications between industrial devices (sensors, limit
converter, with DeviceNet technology, and with the PC or
switches, motor controls) and high-level devices
PLC that is used as a master in the system.
(controllers). DeviceNet follows the Open Systems Intercon-
Read the instructions before programming and follow the
nection (OSI) model and is based on CAN technology for
procedures in this manual.
media access control and physical signaling.
DeviceNet systems can be configured to operate in a
VLT® is a registered trademark. master/slave or a distributed control architecture using
1.2 Additional Resources peer-to-peer communication. Up to 63 nodes in a multi-
drop network topology are supported. By using the same
Resources available for the VLT® frequency converter and cable for communication, communication options can be
optional equipment: powered directly from the bus. Nodes can be removed or
• The VLT® Operating Instructions provide the inserted without powering down the network.
necessary information for getting the VLT® Each node on the network has its own unique media
frequency converter up and running. access control identifier (MAC ID) to distinguish it on the
network. The access control is based on the CSMA/CA
• The VLT® Design Guide provides detailed (carrier sense multiple access/collision avoidance) principle,
information about capabilities and functionality meaning that all nodes may have access to the network at
to design motor control systems. the same time. When 2 nodes attempt to get control of
• The VLT® Programming Guide provides greater the network bus simultaneously, the CAN protocol resolves
detail on working with parameters and many the issue by arbitration. In this way, collisions on the
application examples. network are avoided.
DeviceNet defines device profiles for devices belonging to
• The VLT® DeviceNet MCA 104 Installation Guide
specific classes. For other devices, define a custom class to
provides information about installing the
make it DeviceNet compatible. All the above enhances the
DeviceNet and troubleshooting.
interchangeability and interoperability of the network.
• The VLT® DeviceNet MCA 104 Programming Guide
provides information about configuring the
195NA228.10
24 V
system, controlling the VLT® frequency converter, Power supply
parameter access, programming, troubleshooting, Trunk line
and some typical application examples. RT RT

1
Supplementary publications and manuals are available
1 1 1
from Danfoss. See vlt-drives.danfoss.com/Support/Technical-
Documentation/ for listings.
1.3 Document and Software Version

This manual is regularly reviewed and updated. All
Drop lines 1
suggestions for improvement are welcome. Table 1.1 shows RT=Termination resistors
the document version and the corresponding software
version.
Illustration 1.1 Topology
Edition Remarks Software version
MG92F1xx First edition. 4.4x
Table 1.1 Document and Software Version

Introduction VLT® DeviceNet MCA 104
1 1 VLT® DeviceNet MCA 104 is designed to communicate with Abbreviation Definition

any master abiding by the DeviceNet standard. It is SINT Signed integer
intended for use with: STW Status word
• VLT® HVAC Drive FC 102 VSD Variable speed drive
• VLT® AQUA Drive FC 202

UDINT Unsigned double integer
UNIT Unsigned integer
• VLT® AutomationDrive FC 301/FC 302 USINT Unsigned short integer
1.5 Approvals and Certifications Table 1.2 Symbols and Abbreviations
Conventions
Numbered lists indicate procedures.
Bullet lists indicate other information.
Italicized text indicates:
• Cross reference.
More approvals and certifications are available. For more
• Link.
information, contact a local Danfoss partner. • Parameter name.
1.6 Symbols, Abbreviations and • Parameter group name.

Conventions • Parameter option.
Abbreviation Definition
• Footnote.
ACK ACKnowledge
BOC Bus off counter
BOOL Boolean expression
CAN Controller area network
CSMA/CA Carrier sense multiple access/collision avoidance
COS Change of state
CTW Control word
EDS Electronic data sheet
EMC Electromagnetic compatibility
ETR Electronic thermal relay
FIFO First in first out
HF High frequency
HPFB High performance fieldbus
I/O Input/output
ISO International standards organization
LCD Liquid crystal display
LED Light emitting diode
LSB Least significant bit
MAC ID Media access control identifier
MAV Main actual value
MRV Main reference value
MSB Most significant bit
N/A Not applicable
ODVA Open DeviceNet Vendor Association
OSI Open systems interconnection
PC Personal computer
PCD Process data
PIW Peripheral input word
PLC Programmable logic control
PNU Parameter number
PPO Parameter-process data object
QW Peripheral output word

Safety Programming Guide
2 Safety
2 2
2.1 Safety Symbols WARNING
The following symbols are used in this manual: UNINTENDED START
When the frequency converter is connected to AC mains,
DC supply, or load sharing, the motor may start at any
WARNING time. Unintended start during programming, service, or
Indicates a potentially hazardous situation that could repair work can result in death, serious injury, or
result in death or serious injury. property damage. The motor can start with an external
switch, a fieldbus command, an input reference signal
CAUTION from the LCP or LOP, via remote operation using MCT 10
Set-up Software, or after a cleared fault condition.
Indicates a potentially hazardous situation that could
To prevent unintended motor start:
result in minor or moderate injury. It can also be used to
alert against unsafe practices. • Press [Off/Reset] on the LCP before
programming parameters.
NOTICE • Disconnect the frequency converter from the

mains.
Indicates important information, including situations that
can result in damage to equipment or property. • Completely wire and assemble the frequency
converter, motor, and any driven equipment
before connecting the frequency converter to
2.2 Qualified Personnel AC mains, DC supply, or load sharing.
Correct and reliable transport, storage, installation,
operation, and maintenance are required for the trouble-
free and safe operation of the frequency converter. Only WARNING
qualified personnel are allowed to install and operate this DISCHARGE TIME
equipment. The frequency converter contains DC-link capacitors that
can remain charged even when the frequency converter
Qualified personnel are defined as trained staff, who are is not powered. Failure to wait the specified time after
authorized to install, commission, and maintain equipment, power has been removed before performing service or
systems, and circuits in accordance with pertinent laws and repair work can result in death or serious injury.
regulations. Additionally, the qualified personnel must be
familiar with the instructions and safety measures
• Stop the motor.
described in these operating instructions. • Disconnect the AC mains and remote DC-link
supplies, including battery back-ups, UPS, and
2.3 Safety Precautions DC-link connections to other frequency
converters.
WARNING • Disconnect or lock the PM motor.
HIGH VOLTAGE • Wait for the capacitors to discharge fully before
Frequency converters contain high voltage when performing any service or repair work. The
connected to AC mains input, DC supply, or load sharing. waiting time is specified in the relevant
Failure to perform installation, start-up, and maintenance frequency converter operating instructions,
by qualified personnel can result in death or serious Chapter 2 Safety.
injury.
• Only qualified personnel must perform instal-
lation, start-up, and maintenance. WARNING
LEAKAGE CURRENT HAZARD
Leakage currents exceed 3.5 mA. Failure to ground the
frequency converter properly can result in death or
serious injury.
• Ensure the correct grounding of the equipment
by a certified electrical installer.

Safety VLT® DeviceNet MCA 104
WARNING
EQUIPMENT HAZARD
2 2 Contact with rotating shafts and electrical equipment
can result in death or serious injury.
• Ensure that only trained and qualified personnel
perform installation, start-up, and maintenance.
• Ensure that electrical work conforms to national
and local electrical codes.
• Follow the procedures in this guide.
CAUTION
INTERNAL FAILURE HAZARD
An internal failure in the frequency converter can result
in serious injury when the frequency converter is not
properly closed.
• Ensure that all safety covers are in place and
securely fastened before applying power.

Configuration Programming Guide
3 Configuration
3.1 Configure the DeviceNet Network 3.1.2 Setting the DeviceNet Address via
Parameter 10-02 MAC ID
All DeviceNet stations that are connected to the same bus
network must have a unique station address. Select the
3 3
Set the address via parameter 10-02 MAC ID if the hardware
DeviceNet address of the frequency converter via: switches are set to 63 (factory setting). The address change
• Address switches (default 63). comes into effect at the next power-up.
• Parameter 10-02 MAC ID (default 63).
• Class code 0X03, instance 1, attribute 1. 3.1.3 Setting the DeviceNet Address with
the Object Class Code 0x03, Instance
1, Attribute 1
Set the address via the DeviceNet object class code 0x03
attribute 1 command when the address switch is set to 63
(factory setting). A new address becomes effective
immediately after the class code 0x03, instance 1, attribute
1 command.
3.1.4 Setting the Baud Rate
All DeviceNet stations connected to the same bus network

must have the same baud rate. Select the baud rate of the
frequency converter via:
• Address switches.
• Parameter 10-01 Baud Rate Select (default 125
kBd).
• Object class code 0x03, instance 1, attribute 2.
Illustration 3.1 VLT® DeviceNet MCA 104 Interface
3.1.5 Setting the DeviceNet Baud Rate
using the Address Switches
3.1.1 Setting the DeviceNet Address using
the Address Switches NOTICE
Switch off the power supply before changing the address
NOTICE switches. The baud rate change comes into effect at the
Switch off the power supply before changing the address next power-up, and can be read in parameter 10-01 Baud
switches. The address change comes into effect at the Rate Select.
next power-up, and can be read in parameter 10-02 MAC
ID. Use the address switches to select a baud rate of 125 k
baud (factory setting), 250 k baud, or 500 k baud, see
Set the address switches to give the option a unique ID. Table 3.2:
Select an address range from 0–63 (factory setting 63)
according to Table 3.1. Baud rate switch 8 7
Parameter 10-01 Baud Rate Select 1 1
Switch 8 7 6 5 4 3 2 1 125 kBd 0 0
Address value – – +32 +16 +8 +4 +2 +1 250 kBd 0 1
5 – – OFF OFF OFF ON OFF ON 500 kBd 1 0
20 – – OFF ON OFF ON OFF OFF
Table 3.2 Address Switches
35 – – ON OFF OFF OFF ON ON
Table 3.1 Settings for the Address Switches

Configuration VLT® DeviceNet MCA 104
3.1.6 Setting the DeviceNet Baud Rate via 3.3 Configure the Frequency Converter
Parameter 10-01 Baud Rate Select
3.3.1 Frequency Converter Parameters
Set the baud rate via parameter 10-01 Baud Rate Select if
the address switches 1 and 2 are set to ON (factory Note the following parameters when configuring the
3 3 setting). The baud rate change comes into effect at the frequency converter with a DeviceNet interface. Refer to
next power-up. chapter 6 Parameters for more details of each parameter.
3.1.7 Setting the DeviceNet Baud Rate with • Parameter 0-40 [Hand on] Key on LCP.
the Object Class Code 0x03, Attribute If the Hand key on the frequency converter is
2 activated, control of the frequency converter via
the DeviceNet interface is disabled. After initial
Set the baud rate via the DeviceNet object class code 0x03 power-up the frequency converter automatically
attribute 2 command, when the address switches 1 and 2 detects whether a fieldbus option is installed in
are set to ON (factory setting). A new baud rate becomes slot A, and sets parameter 8-02 Control Word
effective immediately after the class code 0x03 attribute 2 Source to [3] Option A. If an option is added to,
command. changed in, or removed from an already commis-
sioned frequency converter, it does not change
3.2 Configure the Master parameter 8-02 Control Word Source but enters trip
mode, and the frequency converter shows an
3.2.1 EDS File error.
A large part area of the system configuration is the setting • Parameter 8-10 Control Word Profile (see
of application-related parameters. EDS (Electronic Data chapter 4 Control). Select between the Danfoss FC
Sheet) files simplify the setting up of most of the Profile and the ODVA profile. Select the desired
DeviceNet configurable parameters. For off-line configu- DeviceNet instance in parameter 10-10 Process
ration, Danfoss provides a generic English EDS file covering Data Type Selection.
all voltage and power sizes. Download the EDS file from • Parameter 8-50 Coasting Select to
www.danfoss.com/drives. parameter 8-56 Preset Reference Select (see
chapter 6 Parameters). Selection of how to gate
NOTICE the DeviceNet control commands with digital
input command of the control card.
The EDS file does not contain all parameters. It contains
only a selected, limited number of parameters with NOTICE
generic minimum, maximum, and default values. When parameter 8-01 Control Site is set to [2] Control
word only, the settings in parameter 8-50 Coasting Select
to parameter 8-56 Preset Reference Select is overruled,
and all act on bus control.
• Parameter 8-03 Control Word Timeout Time to
parameter 8-05 End-of-Timeout Function. The
reaction in the event of a bus timeout is set via
these parameters.
• Parameter 10-10 Process Data Type Selection.
Default is 125 kbps.
• Parameter 10-02 MAC ID. Default is 63.

Control Programming Guide
4 Control
4.1 DeviceNet Process Control Modes 4.1.1 Polling

This section describes 2 of 3 possible process control Table 4.1 is a classic master/slave connection and the
modes: standard DeviceNet operating mode. The master controls
• Polling. the data exchange by sending cyclic poll-requests to the
• Change of state (COS). connected slave, and the slave answers by sending a poll- 4 4
response to the master. The master can control and
The 3rd FC control mode uses the acyclic mode explicit
monitor the frequency converter by polling the DeviceNet
messaging via the standard DeviceNet control supervisory
or Danfoss objects (I/O instances).
object class 29H. The control supervisory object is
described in chapter 5.3 DeviceNet Object Classes.
Master ⇒ Slave CTW MRV
Slave ⇒ Master STW MAV
Table 4.1 Standard DeviceNet Operation Mode - Polled I/O
4.1.2 Change of State, COS
COS is an event-controlled operating mode used to minimize network traffic. Messages are transmitted only if a defined
state or value has changed. The condition for triggering a COS message is determined by the insertion of COS-filters
(parameter 10-20 COS Filter 1 to parameter 10-23 COS Filter 4), for each bit in the different PCD words. The filter acts like a
logical AND function: If a bit in the filter is set to 1, the COS function triggers after a change to the corresponding bit for
the PCD word.
Illustration 4.1 Different PCDs and the Corresponding Filter Parameters
Parameter 10-20 COS Filter 1 to parameter 10-23 COS Filter 4 can be used to filter out undesired events for COS. If a filter bit is
set to 0, the corresponding I/O instance bit is unable to produce a COS message. By default, all bits in the COS filters are set
to 0.
To signal that the connection has not been interrupted, or the device is not powered off, a heartbeat message is
transmitted within a specified time interval (heartbeat interval). This interval is defined in attribute heartbeat time of the
connection object, class code 0x05.
To prevent the device from producing heavy network traffic if a value changes frequently, the production inhibit time (an
attribute of the connection object) is defined. This parameter defines the minimum time between 2 COS messages.

Control VLT® DeviceNet MCA 104
The attribute expected package rate defines the maximum time between 2 COS messages even when the value is
unchanged. In the event of COS connection, the explicit package rate is identical with the heartbeat interval mentioned
above. This timer is used both as transmission trigger and inactivity watchdog, depending on whether the connection is
producer or consumer.
4.2 I/O Assembly Instances

I/O assembly instances are several defined process control objects with defined content comprising control and status
information. Illustration 4.2 shows the I/O assembly instance options for controlling and monitoring the frequency converter.
4 4
Illustration 4.2 I/O Assembly Instance Options
4.3 Process Data

Process data comprises the control and status data in the I/O assembly instances.
The CTW, MRV, STW, and MAV have defined formats and functions, depending on the I/O instance selected. PCD 3 and PCD
4 are freely configurable, for instance 101/151 via parameter 10-11 Process Data Config Write and parameter 10-12 Process
Data Config Read.
All PCDs are freely configurable for instance 102/152.
DeviceNet provides a flexible way to customize the number of process data (I/O words) and the functionality of each word.
To activate the user definable process data, select the I/O instance 101/151 in parameter 10-10 Process Data Type Selection.
This changes the I/O size to 4 words in the input and output area. This selection uses the Danfoss-specific profile for the
control word and status word as well as for the main reference value/main actual value.
The first 2 words are fixed on the DeviceNet, whereas PCD 3 and PCD 4 are user configurable. The number of PCDs active in
a system is fixed to 2 words.
NOTICE
To select [1] Instance 101/151 in parameter 10-10 Process Data Type Selection, set parameter 8-10 Control Word Profile to
[0] FC profile.
To enable use of PCD data from the DeviceNet, configure the contents of each single PCD word in parameter 10-11 Process
Data Config Write and parameter 10-12 Process Data Config Read. Changes to parameter 10-11 Process Data Config Write and
parameter 10-12 Process Data Config Read are effected immediately in the PCD data.

Instance Originator (PLC) --> Target (Drive)
130BE709.10
Instance Target (Drive) --> Originator (PLC)
20 CTW REF 70 STW MAV
PCD 2 PCD 3 PCD 2 PCD 3

4 4
write write read read
Byte # 1 2 3 4 5 6 7 8 Byte # 1 2 3 4 5 6 7 8
Word # 1 2 3 4 Word # 1 2 3 4
Fixed contents User defined contents
Illustration 4.3 Process Data
4.4 ODVA Control Profile Explanation of the bits:

Bit 0, Run Fwd
4.4.1 Control Word under Instances 20/70 Bit 0 = 0: The frequency converter has a stop command.
and 21/71 Bit 0 = 1: Leads to a start command, and the frequency
converter runs the motor clockwise.
Set parameter 8-10 Control Word Profile to ODVA and select Bit 1, Run Rev
the instance in parameter 10-10 Process Data Type Selection. Bit 1 = 0: Leads to a stop of the motor.
Bit 1 = 1: Leads to a start reverse of the motor, and the
frequency converter runs the motor counterclockwise.
Bit 2, Fault Reset
Bit 2 = 0: There is no reset of a trip.
Bit 2 = 1: A trip is reset.
Illustration 4.4 The Control Word in Instances 20 and 21 Bit 3, No function
Bit 3: No function.
Bit 4, No function
NOTICE Bit 4: No function.
The bits 00 and 02 in instance 20 are identical with bits Bit 5, Net Control
00 and 02 in the more extensive instance 21. Bit 5 = 0: The frequency converter is controlled via the
standard inputs.
Bit Instance 20 Instance 21 Bit 5 = 1: The DeviceNet controls the frequency converter.
Bit = 0 Bit = 1 Bit = 0 Bit = 1
00 Stop Run Fwd Stop Run Fwd
NOTICE
Changes affect parameter 8-50 Coasting Select to
01 – – Stop Run Rev
parameter 8-56 Preset Reference Select.
02 No function Fault reset No function Fault reset
03 – – – –
Bit 6, Net Reference
04 – – – –
Bit 6 = 0: Reference is from the standard inputs.
05 – – – Net Ctrl
Bit 6 = 1: Reference is from DeviceNet.
06 – – – Net Ref
07–15 – – – –
Table 4.2 Bits in Instances 20 and 21

NOTICE Bit 3, Running 2

Changes affect parameter 3-15 Reference Resource 1 to Bit 3 = 0: The frequency converter is not in the running
parameter 3-17 Reference Resource 3. reverse state, or run 2 is not set.
Bit 3 = 1: The frequency converter state attribute is
enabled or stopping, or fault-stop and bit 0 (run 2) of the
For the speed reference, see chapter 4.4.3 Bus Speed
control word are set at the same time.
Reference Value under Instances 20/70 and 21/71.
Bit 4, Ready
4.4.2 Status Word under Instances 20/70 Bit 4 = 0: The state attribute is in another state.
4 4 and 21/71 Bit 4 = 1: The state attribute is ready, enabled, or stopping.

Bit 5, Control from net
Bit 5 = 0: The frequency converter is controlled from the
standard inputs.
Bit 5 = 1: The DeviceNet has control (start, stop, reverse) of
the frequency converter.
Bit 6, Ref from net
Illustration 4.5 Status Word in Instances 70 and 71
Bit 6 = 0: The reference comes from inputs to the
frequency converter.
Bit 6 = 1: The reference comes from the DeviceNet.
NOTICE Bit 7, At reference
The bits 00 and 02 in instance 70 are identical with bits Bit 7 = 0: The motor is running, but the present speed is
00 and 02 in the more extensive instance 71. different from the preset speed reference, for example, the
speed is being ramped up/down during start/stop.
Bit Instance 70 Instance 71 Bit 7 = 1: The frequency converter and reference speeds
Bit = 0 Bit = 1 Bit = 0 Bit = 1 are equal.
00 – Fault – Fault
Bit 8–15, State attribute
01 – – – Warning (Instance 71 only)
02 – Running 1 – Running 1 Represents the state attribute of the frequency converter,
Fwd Fwd as indicated in Table 4.4.
03 – – – Running 2
Rev. Bit number Meaning
04 – – – Ready 8 (Vendor specific)
05 – – – Control 9 Start up
from Net 10 Not ready
06 – – – Reference 11 Ready
from Net 12 Enabled
07 – – – At 13 Stopping
reference 14 Fault stop
08–15 – – State attribute 15 Faulted
Table 4.3 Bits in Instances 70 and 71 Table 4.4 State Attribute (Instance 71)
Explanation of the bits: For more details of the actual output speed, see
Bit 0, Fault chapter 4.4.4 Actual Output Speed under Instances 20/70 and
Bit 0 = 0: There is no fault in the frequency converter. 21/71.
Bit 0 = 1: There is a fault in the frequency converter.
Bit 1, Warning 4.4.3 Bus Speed Reference Value under
Bit 0 = 0: There is no unusual situation. Instances 20/70 and 21/71
Bit 0 = 1: An abnormal condition has arisen.
Bit 2, Running 1 The speed reference value is transmitted to the frequency
Bit 2 = 0: The frequency converter is not in the running converter as a 16-bit word. The value is transmitted as a
forward state, or run 1 is not set. whole number. Negative figures are formatted by 2’s
Bit 2 = 1: The frequency converter state attribute is complement.
enabled or stopping, or that fault-stop and bit 0 (run 1) of
the control word are set at the same time.

4.5 FC Control Profile

4.5.1 Control Word under Instances
100/150, 101/151, and 102/152
Illustration 4.6 Speed Reference Value
To select FC protocol in the control word, set
parameter 8-10 Control Word Profile to [0] FC profile. The
The bus speed reference has the following format: control word is used to send commands from a master
Parameter 3-00 Reference Range = 0 [refMIN to refMAX] 0 (PLC or PC) to a slave (frequency converter).
(0000 hex) [RPM] to + 32767 (7FFF hex) [RPM] 4 4
Parameter 3-00 Reference Range = 1 [-refMAX to +refMAX]
-32767 (8001 hex ) to +32767 [RPM] (7FFF hex)
The actual reference [Ref. %] in the frequency converter

depends on the settings in the following parameters:
Parameter 1-23 Motor Frequency Illustration 4.8 Control Words in Instances 100, 101, and 102
Parameter 1-25 Motor Nominal Speed
Parameter 3-03 Maximum Reference
Bit Bit value = 0 Bit value = 1
NOTICE 00 Reference value External selection lsb
When the bus speed reference is negative, and the 01 Reference value External selection msb
control word contains a run reverse signal, the frequency 02 DC brake Ramp
converter runs clockwise (- - is +). 03 Coasting No coasting
04 Quick stop Ramp
Example: 05 Hold output frequency Use ramp
Parameter 1-25 Motor Nominal Speed = 1420 RPM 06 Ramp stop Start
Parameter 1-23 Motor Frequency = 50 Hz 07 No function Reset
Parameter 3-03 Maximum Reference = 1420 RPM 08 No function Jog
To run the motor at 25%, the reference transmitted must 09 Ramp 1 Ramp 2
be: (1420x0.25) = 355 = 16.3 hex 10 Data invalid Data valid
163 hex ⇒ 25% ⇒ Fout = 12.5 Hz 11 No function Relay 01 active
12 No function Relay 04 active
4.4.4 Actual Output Speed under Instances 13 Parameter set-up Selection lsb
20/70 and 21/71 14 Parameter set-up Selection msb
15 No function Reverse
Table 4.5 Bits in Instances 100, 101, and 102
Explanation of the control bits:

Bits 00/01
Bits 00 and 01: Select between the 4 reference values,
Illustration 4.7 Actual Output Speed Value which are pre-programmed in parameter 3-10 Preset
Reference according to Table 4.6.
Programmed Parameter Bit 01 Bit 00

The value of the actual speed of the motor, is transmitted
reference
in the form of a 16-bit word.
value
1 3-10 [0] 0 0
The value is transmitted as a whole number (negative
2 3-10 [1] 0 1
figures are formed with 2's complement).
3 3-10 [2] 1 0
4 3-10 [3] 1 1
-32767 (8000 hex) [RPM] to +32767 [RPM] (7FFF hex) [RPM]
Table 4.6 Reference Values

NOTICE Bit 07, Reset

In parameter 8-56 Preset Reference Select, a selection is Bit 07 = 0: Does not cause a reset.
made to define how bit 00/01 gates with the Bit 07 = 1: Resets a trip. Reset is activated on the leading
corresponding function on the digital inputs. edge of the signal, that is, when changing from logic 0 to
logic 1.
Bit 02, DC brake Bit 08, Jog

Bit 02 = 0: Leads to DC braking and stop. Braking current Bit 08 = 1: The frequency converter ramps up/ramps down
and duration are set in parameter 2-01 DC Brake Current according to the setting in parameter 3-19 Jog Speed [RPM].
4 4 and parameter 2-02 DC Braking Time.

Bit 02 = 1: Leads to ramping.
Bit 09, Selection of ramp 1/2
Bit 09 = 0: Ramp 1 is active (parameter 3-40 Ramp 1 Type to
Bit 03, Coasting parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start).
Bit 03 = 0: Causes the frequency converter to immediately Bit 09 = 1: Ramp 2 is active (parameter 3-50 Ramp 2 Type to
release the motor (the output transistors are disabled), and parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start).
coasts to a standstill. Bit 10, Data not valid/Data valid
Bit 03 = 1: Enables the frequency converter to start the Tells the frequency converter whether to use or to ignore
motor if the other starting conditions are fulfilled. the control word.
NOTICE Bit 10 = 0: Ignores the control word.
Bit 10 = 1: Uses the control word to be used. This function
In parameter 8-50 Coasting Select, a selection is made to
is relevant, because the control word is always contained
define how bit 03 gates with the corresponding function
in the telegram, regardless of the type of telegram. It is
on a digital input.
possible to turn off the control word if you do not wish to
use it with updating or reading parameters.
Bit 04, Quick stop
Bit 04 = 0: Causes a stop, in which the motor speed is Bit 11, Relay 01
ramped down to stop via parameter 3-81 Quick Stop Ramp Bit 11 = 0: Relay not activated.
Time. Bit 11 = 1: Relay 01 activated, provided [36] control word
bit 11 is selected in parameter 5-40 Function Relay.
Bit 05, Hold output frequency
Bit 05 = 0: Causes the present output frequency (in Hz) to Bit 12, Relay 04
freeze. The frozen output frequency can then be changed Bit 12 = 0: Relay 04 is not activated.
only with the digital inputs (parameter 5-10 Terminal 18 Bit 12 = 1: Relay 04 is activated, provided [37] control word
Digital Input to parameter 5-15 Terminal 33 Digital Input) bit 12 is selected in parameter 5-40 Function Relay.
programmed to speed up and speed down. Bit 13/14, Selection of set-up
Bits 13 and 14 are used to select from the 4 menu set-ups
NOTICE according to Table 4.7.
If hold output is active, only the following can stop the
frequency converter: Set-up Bit 14 Bit 13
• Bit 03 coasting stop. 1 0 0
2 0 1
• Bit 02 DC braking.
3 1 0
• Digital input (parameter 5-10 Terminal 18 Digital 4 1 1
Input to parameter 5-15 Terminal 33 Digital
Input) programmed to DC braking, coasting Table 4.7 Menu Set-up
stop, or reset and coasting stop.
The function is only possible when [9] Multi Set-up is
selected in parameter 0-10 Active Set-up.
Bit 06, Ramp stop/start
Bit 06 = 0: Causes a stop, in which the motor speed is NOTICE
ramped down to stop via the selected ramp down In parameter 8-55 Set-up Select, a selection is made to
parameter. define how bits 13/14 gate with the corresponding
Bit 06 = 1: Allows the frequency converter to start the function on the digital inputs.
motor, if the other starting conditions are fulfilled.
NOTICE Bit 15 Reverse

Bit 15 = 0: No reversing.
In parameter 8-53 Start Select, a selection is made to
Bit 15 = 1: Reversing.
define how bit 06 ramp stop/start gates with the
corresponding function on a digital input.

4.5.2 Status Word under Instances 100/150, Bit 07, No warning/warning

101/151, and 102/152 Bit 07 = 0: There are no warnings.
Bit 07 = 1: A warning has occurred.
Bit 08, Speed reference/speed = reference
Bit 08 = 0: The motor is running, but the present speed is
different from the preset speed reference. For example, it
could be the case while the speed is being ramped up/
down during start/stop.
Illustration 4.9 Status Words in Instances 150/151/152 Bit 08 = 1: The present motor speed matches the preset
speed reference. 4 4
Bit 09, Local operation/bus control
Bit Bit = 0 Bit = 1
Bit 09 = 0: [STOP/RESET] is activated on the control unit, or
00 Control not ready Control ready
[2] Local in parameter 3-13 Reference Site is selected. It is
01 Drive not ready Drive ready
not possible to control the frequency converter via serial
02 Coasting Enable
communication.
03 No error Trip Bit 09 = 1: It is possible to control the frequency converter
04 No error Error (no trip) via the fieldbus/serial communication.
05 Reserved –
Bit 10, Out of frequency limit
06 No error Trip lock
Bit 10 = 0: The output frequency has reached the value in
07 No warning Warning
parameter 4-52 Warning Speed Low or
08 Speed reference Speed = reference
parameter 4-53 Warning Speed High.
09 Local operation Bus control Bit 10 = 1: The output frequency is within the defined
10 Out of frequency limit Frequency limit ok limits.
11 No operation In operation
Bit 11, No operation/in operation
12 Drive ok Stopped, auto start
Bit 11 = 0: The motor does not run.
13 Voltage ok Voltage exceeded
Bit 11 = 1: The frequency converter has a start signal, or
14 Torque ok Torque exceeded
the output frequency is greater than 0 Hz.
15 Timer ok Timer exceeded
Bit 12, Drive OK/stopped, auto start
Table 4.8 Status Bits Bit 12 = 0: There is no temporary overtemperature on the
inverter.
Explanation of the status bits: Bit 12 = 1: The inverter has stopped because of overtem-
Bit 00, Control not ready/ready perature, but the unit has not tripped and resumes
Bit 00 = 0: The frequency converter has tripped. operation once the overtemperature stops.
Bit 00 = 1: The frequency converter controls are ready, but
Bit 13, Voltage OK/limit exceeded
the power component is not necessarily receiving any
Bit 13 = 0: There are no voltage warnings.
power supply (if there is 24 V external supply to controls).
Bit 13 = 1: The DC voltage in the frequency converters DC
Bit 01, Drive ready link is too low or too high.
Bit 01 = 1: The frequency converter is ready for operation.
Bit 14, Torque OK/limit exceeded
Bit 02, Coasting stop Bit 14 = 0: The motor current is lower than the torque limit
Bit 02 = 0: The frequency converter has released the motor. selected in parameter 4-16 Torque Limit Motor Mode or
Bit 02 = 1: The frequency converter can start the motor parameter 4-17 Torque Limit Generator Mode.
when a start command is given. Bit 14 = 1: The torque limits in parameter 4-16 Torque Limit
Bit 03, No error/trip Motor Mode and parameter 4-17 Torque Limit Generator
Bit 03 = 0: The frequency converter is not in fault mode. Mode are exceeded.
Bit 03 = 1: The frequency converter is tripped, and a reset Bit 15, Timer OK/limit exceeded
signal is required to re-establish operation. Bit 15 = 0: The timers for motor thermal protection and
Bit 04, No error/error (no trip) frequency converter thermal protection, respectively, have
Bit 04 = 0: The frequency converter is not in fault mode. not exceeded 100%.
Bit 04 = 1: There is a frequency converter error but no trip. Bit 15 = 1: One of the timers has exceeded 100%.
Bit 05, Not used

Bit 05: Not used in the status word.
Bit 06, No error/trip lock
Bit 06 = 0: The frequency converter is not in fault mode.
Bit 06 = 1: The frequency converter is tripped and locked.

4.5.3 Bus Reference Value under Instances

100/150 and 101/151
The frequency reference value is transmitted to the

frequency converter in the form of a 16-bit word. The
value is transmitted as a whole number (-32767 to
+32767). Negative figures are formatted by 2’s
complement.
4 4 Master ⇒ slave 16 bit

CTW Speed reference RPM
Table 4.9 Speed Reference Value
The bus reference has the following format:

100% = 4000 hex
Parameter 3-00 Reference Range = 0 [refMIN ⇒ refMAX] 0 ⇒
16384 (4000 hex) ~ 0 ⇒ 100%
Parameter 3-00 Reference Range = 1 [- refMAX ⇒ + refMAX]
-16384 (C000 hex) ⇒ +16384 (4000 hex) ~ -100% ⇒ +100%
4.5.4 Actual Output Frequency under

Instances 100/150 and 101/151
The value of the actual output frequency of the frequency

converter is transmitted in the form of a 16-bit word. The
value is transmitted as a whole number (-32767 to
+32767). Negative figures are formed by 2’s complement.
Slave ⇒ master 16 bit

STW Actual reference RPM
Table 4.10 Actual Output Frequency
The actual output frequency has the following format:

-32767 to +32767.
-16384 (C000 hex) corresponds to -100%, and 16384 (4000
hex) corresponds to 100%.

Parameter Access Programming Guide
5 Parameter Access
5.1 Explicit Messages

DeviceNet is based on the CAN protocol. Every message contains an 11 bit CAN identifier field to define the connection ID.
These CAN identifiers are also used to determine access priority.
The MAC ID is stored in the header of the message, which is split into 4 different message groups, see Table 5.1.
10 9 8 7 6 5 4 3 2 1 0 Identifier bits
0 Group 1 ID Source MAC ID Message group 1 5 5
1 0 MAC ID Group 2 ID Message group 2
1 1 Group 3 ID Source MAC ID Message group 3
1 1 1 1 1 Group 4 ID Message group 4
1 1 1 1 1 1 1 X X X X Invalid CAN identifiers
Table 5.1 MAC ID
It is possible to access frequency converter parameters via the standard DeviceNet service explicit message. Two classes of
explicit messages are supported:
Message group 2: Explicit messages take place via pre-defined master/slave connections.
Message group 3: Explicit messages take place via dynamically established lower prioritized connections.
5.2 Object Classes

Access is available to the following standard DeviceNet objects.
Class ID 01h Identity object Class ID 10h Parameter group object

Class ID 03h DeviceNet object Class ID 28h Motor data object
Class ID 04h Assembly object Class ID 29h Control supervisory object
Class ID 05h Connection object Class ID 2Ah AC/DC drive object
Class ID 0Fh Parameter object Class ID 2Bh Acknowledge handler object
Table 5.2 Standard DeviceNet Objects
The following DeviceNet vendor-specific objects are also available:

Class ID 100d to 119d Danfoss classes.
The object classes are described in chapter 5.3 DeviceNet Object Classes and chapter 5.4 Danfoss Object Classes.

Parameter Access VLT® DeviceNet MCA 104
5.3 DeviceNet Object Classes

5.3.1 Class ID 01h Identity Object
Class ID 01h identity object is a standard DeviceNet object for identification of the device (frequency converter). Set the
heartbeat interval in this object. The attributes supported for this class are listed in Table 5.3.
Attribute Access Name Data type Minimum/ Units Default Description

Maximum
1 Get Vendor USINT – – 97 Danfoss Drives Vendor
code.
5 5 2
3
Get
Get
Device Type
Product Code
UNIT
UNIT
–
–
–
–
2
100
AD/DC Motor.
See chapter 3.2.1 EDS File.
4 Get Revision UNIT – – – Software version on FC
102, FC 202, or FC 300.
5 Get Status UNIT – – –
6 Get Serial Number UDINT – – – From frequency
converter.
7 Get Product Name String – – – FC 100, FC 202, or FC
300.
10 Get/Set Heartbeat USINT 0–255 s 0 Off.
Interval
Table 5.3 Class ID 0x01
5.3.2 Class ID 03h DeviceNet Object
Class ID 03h DeviceNet object is a standard DeviceNet object for configuration and status of the DeviceNet connection. The
attributes supported for this class are listed in Table 5.4.

Maximum
1 Get/Set MAC ID USINT 0–63 – 63 Node address.
2 Get/Set Baud rate USINT 0–2 – 0 0=125
1=250
2=500
4 Get BOC – – – – Bus-off counter.
5 Get Allocate – – – – Only required if
information predefined master/slave
is implemented.
6 Get MAC ID switch BOOL 0–1 – 0 The node address switch
changed has changed since the
last power-up/reset.
7 Get Baud rate BOOL 0–1 – 0 The baud rate switch has
switched from changed since the last
last power-up power-up.

5.3.3 Class ID 04h Assembly Object
Class ID 04h assembly object is a standard DeviceNet object for transfer of the I/O instances (process data) described in
chapter 4 Control. Using class ID 04h assembly object to send or read any of the defined instances, either by polling or
explicit messaging. The attributes supported for this class are listed in Table 5.5.

Maximum
3 Set Data ARRAY – – – –
Instance Access Size Description Parameter 10-10 selection 5 5

20 Set 2 words DeviceNet AC/DC profile Instance 20/70
21 Set 2 words DeviceNet AC/DC profile Instance 21/71
70 Get 2 words DeviceNet AC/DC profile Instance 20/70
71 Get 2 words DeviceNet AC/DC profile Instance 21/71
100 Set 2 words Danfoss specific, no PCD words Instance 100/150
101 Set 4 words Danfoss specific, 2 PCD words Instance 101/151
150 Get 2 words Danfoss specific, no PCD words Instance 100/150
151 Get 4 words Danfoss specific, 2 PCD words Instance 101/151
Table 5.6 Instances

5.3.4 Class ID 05h Connection Object
Class ID 05h connection object is a standard DeviceNet object for allocation and managing I/O and explicit messaging
connections. For this class, 3 instances are supported:
• Explicit messages.
• Polled I/O.
• Change of state.
The attributes supported for the different instances are listed in Table 5.7, Table 5.8, and Table 5.9.
5 5
Attribute Access Name Data type Description
1 Get State USINT State of the object.
2 Get Instance type USINT Indicates either I/O or explicit message.
3 Get Transport class USINT Defines behavior of the connection.
trigger
4 Get Produced UINT CAN identifier field when the connection transmits.
connection ID
5 Get Consumed UINT CAN identifier field value that denotes message to be received.
connection ID
6 Get Initial USINT Defines the message group/groups across which productions and
communication consumptions associated with this connection occur.
characteristics
7 Get Produced UINT Maximum number of bytes transmitted across this connection.
connection size
8 Get Consumed UINT Maximum number of bytes received across this connection.
connection size
9 Get/Set Expected UINT Defines value used in transmission trigger timer and inactivity/
package rate watchdog timer.
12 Get Watchdog USINT Defines how to handle inactivity/watchdog timeout.
timeout action
13 Get Produced UINT Number of bytes in the produced connection path attribute.
connection path
length
14 Get Produced Array of USINT Specifies the application object/objects whose data is to be produced
connection path by these connection objects.
15 Get Consumed UINT Number of bytes in the consumed connection path attribute.
connection path
length
16 Get Consumed Array of USINT Specifies the application object/objects that are to receive the data
connection path consumed by this connection object.
17 Get Production UINT Defines minimum time between new data production. This attribute is
inhibit time required for I/O client connection.
Table 5.7 Instance 1 Attributes: Explicit Message Instance


trigger
connection ID
connection ID
7 Get
characteristics
Produced UINT Maximum number of bytes transmitted across this connection. 5 5
connection size
connection size
timeout action
connection path
length
connection path
length
Table 5.8 Instance 2 Attributes: Polled I/O


trigger
connection ID
connection ID
5 5 7 Get
characteristics
Produced UINT Maximum number of bytes transmitted across this connection.
connection size
connection size
timeout action
connection path
length
connection path
length
Table 5.9 Instance 4: Change of State/Cycle

5.3.5 Class ID 0F4 Parameter Object
Class ID 0F4 parameter object is an interface to the parameters of the frequency converter. It identifies configurable
parameters and supplies their description, including minimum and maximum values and a descriptive text. The attributes
supported are listed in Table 5.10.
Attribute Access Stub/Full Name Data type Description

1 Set/Get Stub Parameter value Data type1) Actual value of parameter.
2 Get Stub Link path size USINT Size of link path.
3 Get Stub Link path ARRAY DeviceNet's path to origin of the parameters.
– – – Segment type/port BYTE –
–
4
–
Get
–
Stub
Segment address
Descriptor
Path
WORD
–
Description of parameter.
5 5
5 Get Stub Data type EPATH Data type code.
6 Get Stub Data size USINT Number of bytes in parameter value.
7 Get Full Parameter name SHORT Text string representing the parameter name.
string STRING
8 Get Full Units string SHORT Text string representing the parameter name.
STRING
9 Get/Set Full Help string SHORT Text string representing the parameter name.
STRING
10 Get Full Minimum value Data type1) Minimum valid value.
11 Get Full Maximum value Data type1) Maximum valid value.
12 Get Full Default value Data type1) Parameters default value.
13 Get Full Scaling multiplier UINT Multiplier for scaling factor.
14 Get Full Scaling divisor UINT Divisor for scaling factor.
15 Get Full Scaling base UINT Base for scaling formula.
16 Get Full Scaling offset INT Offset for scaling formula.
17 Get Full Multiplier link UINT Parameter instance of multiplier source.
18 Get Full Divisor link UINT Parameter instance of divisor source.
19 Get Full Base link UINT Parameter instance of base source.
20 Get Full Offset link UINT Parameter instance of offset source.
21 Get Full Decimal precision USINT Specifies parameter value format.
Table 5.10 Attributes Supported for Class ID 0F4 Parameter Object

1) Same data type as the parameter.

5.3.6 Class ID 10h Parameter Group Object
Class ID 10h parameter group object defines 14 parameter groups for all parameters of the frequency converters. One class
instance exists for each parameter group. A readout of an instance contains the name of the current parameter group.
Group Instance Name (maximum 16 characters)

0 1 O P E R A T I O N D I S P L .
1 2 L O A D – M O T O R – – – – – –
2 3 B R A K E S – – – – – – – – – –
3 4 R E F E R E N C E – R A M P S –
4 5 L I M I T S – W A R N I N G S –
5 5 5
6
6
7
D
A
I
N
G
A
I
L
T
O
A
G
L
–
–
I
I
N
N
–
–
O
O
U
U
T
T
–
–
–
–
–
7 8 C O N T R O L L E R S – – – – –
8 9 C O M M . – A N D – O P T I O N
9 10 C A N – F I E L D B U S – – – –
10 11 S P E C I A L – F U N C T I O N
Table 5.11 Class ID 10h Parameter Group Object
5.3.7 Class ID 28h Motor Data Object
In class ID 28h motor data object, the current motor data can be configured and readout. The instances, attributes, and
services supported for this class are listed in Table 5.12.
Attribute Access Name Data Generic Units Default Description Parameter

type maximum reference
values
3 Get/set Motor USINT 7 – 7 7 = Squirrel cage Parameter 1-10 Motor
type asynchronous motor Construction
6 Get/set Rated UNIT 0–100.00 100 mA Drive dependent Stator current rating (from Parameter 1-24 Motor
current motor nameplate) Current
7 Get/set Rated UNIT 200–500 Volt Drive dependent Base voltage rating (from Parameter 1-22 Motor
voltage motor nameplate) Voltage
8 Get/set Rated UDINT 0–18500 Watt Drive dependent Power rating at rated Parameter 1-20 Motor
power frequency (from motor Power [kW]
nameplate)
9 Get/set Rated UNIT 1–1000 Hz Drive dependent Elec. frequency rating Parameter 1-23 Motor
frequency (from motor nameplate) Frequency
121) Get/set Pole UINT – – Drive dependent Pole numbers in the Parameter 1-39 Motor
count motor Poles
15 Get/set Base UNIT 100–60000 RPM Drive dependent Nominal motor speed Parameter 1-25 Motor
speed (from motor nameplate) Nominal Speed

5.3.8 Class ID 29h Control Supervisory Object
The control supervisory object can be used for process control and monitoring of the frequency converter as an alternative
to the I/O instances defined in chapter 4 Control. The attributes supported for this class are listed in Table 5.13.
Attribute Access Name Data type Minimum/ Default Description

Maximum
3 Get/Set Run 1 Bool 0–1 – Run fwd, see note below
4 Get/Set Run 2 Bool 0–1 – Run rev, see note below
5 Get/Set NetCtrl Bool 0–1 1 0 = Local control
1 = Control from network
6 Get State USINT 0–7 – 0
1
=
=
Vendor specific
Start-up
5 5
2 = Not ready
3 = Ready
4 = Enabled
5 = Stop
6 = Fault stop
7 = Fault
7 Get Running 1 Bool 0–1 0 0 = Other state
1 = (Enable and Run 1)
or (Stopping and Running 1)
or (Fault Stop and Running 1)
8 Get Running 2 Bool 0–1 0 0 = Other state
1 = (Enable and Run 2)
or (Stopping and Running 2)
or (Fault Stop and Running 2)
9 Get Ready Bool 0–1 – 0 = Other state
1 = Ready or Enabled or Stopping
10 Get Fault Bool 0–1 0 0 = No faults present
1 = Fault occurred (latched)
12 Get/Set Fault Rst Bool 0–1 – 0 = No action
1 ->1 = Reset fault
13 Get Fault Code UINT – –
15 Get Ctrl From Net Bool 0–1 1 0 = Control is local
1 = Control is from network
16 Get/Set DN Fault Mode UINT 0–2 1 Action on loss of DeviceNet
0 = Fault + Stop
1 = Ignore (warning optional)
2 = Danfoss specific
NOTICE
The ODVA drive profile selected in parameter 1-10 Motor Construction is available only when instances 20/70 or 21/71
are selected.
Illustration 5.1 shows how the frequency converter responds to the various command attributes associated with class ID
0x29.

5 5
Illustration 5.1 State – Transition Diagram
5.3.9 Class ID 2Ah AC/DC Drive Object
To set and read out a range of frequency converters control and status information, use this object. The attributes
supported for this class are listed in Table 5.14.
Attribute Access Name Data Minimum/ Default Description

type Maximum
3 Get At reference Bool 0–1 – 0 = Drive not at reference
1 = Drive at reference
4 Get/Set Net ref Bool 0–1 1 0 = Set reference at non-DeviceNet
reference
1 = Set reference at DeviceNet reference
6 Get/Set Drive mode USINT 0–1 1 0 = Vendor specific mode
1 = Open-loop speed (frequency)
2 = Closed-loop speed control
7 Get Speed actual INT – RPM/2Speed Scale Actual drive speed
(best approximation)
8 Get/Set Speed ref INT – RPM/2Speed Scale Speed reference
22 Get/Set Speed scale SINT -128–127 – Speed scaling factor
29 Get Ref from net Bool 0–1 – 0 = Local speed reference
1 = DeviceNet speed reference
Table 5.14 Class ID 0x2A

5.3.10 Class ID 2Bh Acknowledge Handler Object
To manage message reception acknowledgements, necessary for change-of-state support, use class ID 2Bh acknowledge
handler object. The attributes supported for this class are listed in Table 5.15.
Attribute Access Name Data Minimum/ Default Description

type Maximum
1 Set ACK timer UINT 0–65535 16 Time to wait for ACK before resending.
2 Get/Set Retry timer USINT 0–255 1 Number of ACK-timeouts to wait before
producing.
RetryLimit_Reache event.
3 Get/Set COS UINT – – Connection instance ID
5 5
Table 5.15 Class ID 0x2B
5.4 Danfoss Object Classes 5.4.1 Examples

Use the Danfoss classes for read and write of all parameter Examples: (fictitious parameters) (all values in decimal)
values of the frequency converters. A corresponding object • Parameter 0-01 Language [index 0] = Class 100;
class is defined for each parameter group. Table 5.16 shows instance 101; attribute 100
the classes supported, and their relationship to the
parameters. • Parameter 1-00 Configuration Mode [index 0] =
Class 101; instance 100; attribute 100
The class instance and attribute act in the following way: • Parameter 3-41 Ramp 1 Ramp Up Time [index 0] =
• 100 added to the parameter group = the value Class 103; instance 141; attribute 100
for the class. • Parameter 1-55 U/f Characteristic - U [index 3] =
• 100 added to the remaining parameter number = Class 101; instance 155; attribute 103
the value for the instance. • Parameter 6-54 Terminal 42 Output Timeout Preset
• 100 added to the array index of the parameter = [index 9] = Class 106; instance 154; attribute 109
the value for the attribute. • Parameter 10-01 Baud Rate Select [index 0] = Class
110; instance 101; attribute 100
Parameter range Class
Parameter 0-00 – 0-99 Class 100
Table 5.16 Danfoss Classes

Parameters VLT® DeviceNet MCA 104
6 Parameters
6.1 Parameter Description 8-03 Control Word Timeout Time

Range: Function:
8-01 Control Site
1 s* [ 0.1 - Enter the maximum time expected to pass
Option: Function: 18000 s] between the reception of 2 consecutive
The setting in this parameter overrides the telegrams. If this time is exceeded, it indicates
settings in parameter 8-50 Coasting Select to that the telegram communication has stopped.
parameter 8-56 Preset Reference Select. The function selected in parameter 8-04 Control
[0] Digital and Control by using both digital input and Word Timeout Function is then carried out. A
ctrl.word control word. valid control word triggers the timeout counter.
[1] Digital only Control by using digital inputs only. 8-04 Control Word Timeout Function
6 6 [2] Controlword Control by using control word only. Select the timeout function. The timeout function activates when
only the control word fails to be updated within the time period
specified in parameter 8-03 Control Word Timeout Time.
8-02 Control Word Source
Option: Function:
Option: Function:
NOTICE NOTICE
To change the set-up after a timeout,
This parameter cannot be adjusted
configure as follows:
while the motor is running.
Set parameter 0-10 Active Set-up to [9]
Multi set-up and select the relevant
Select the source of the control word: 1 of 2 link in parameter 0-12 This Set-up
serial interfaces or 4 installed options. During Linked to.
initial power-up, the frequency converter
automatically sets this parameter to [3] Option
[0] Off Resumes control via fieldbus (fieldbus or
A, if it detects a valid fieldbus option installed
standard), using the most recent control
in slot A. When the option is removed, the
word.
frequency converter detects a configuration
change, sets parameter 8-02 Control Word [1] Freeze output Freezes output frequency until communi-
Source to default setting [1] FC RS485, and cation resumes.
trips. If an option is installed after initial [2] Stop Stops with auto restart when communi-
power-up, the setting of cation resumes.
parameter 8-02 Control Word Source does not
change, but the frequency converter trips and [3] Jogging Runs the motor at jog frequency until
shows: Alarm 67, Option Changed. communication resumes.
When retrofitting a bus option into a [4] Max. speed Runs the motor at maximum frequency until
frequency converter that did not have a bus communication resumes.
option installed earlier, change the control to
[5] Stop and trip Stops the motor, then resets the frequency
bus-based. This change is required for safety
converter to restart:
reasons to avoid an unintended change.
• Via the fieldbus.
[0] None
• Via [Reset].
[1] FC RS485
[2] FC USB • Via a digital input.
[3] Option A [7] Select setup 1 Changes the set-up after a control word
[4] Option B timeout. If communication resumes after a
[5] Option C0 timeout, parameter 8-05 End-of-Timeout
[6] Option C1 Function defines whether to resume the set-
[30] External Can up used before the timeout, or to retain the
set-up endorsed by the timeout function.
[8] Select setup 2 See [7] Select set-up 1.

Parameters Programming Guide
8-04 Control Word Timeout Function 8-08 Readout Filtering

Select the timeout function. The timeout function activates when If the speed feedback value readouts on fieldbus are fluctuating,
the control word fails to be updated within the time period this function is used. Select filtered, if the function is required. A
specified in parameter 8-03 Control Word Timeout Time. power cycle is required for changes to take effect.
Option: Function: Option: Function:
[26] Trip [1] Motor Data Filtered fieldbus readouts of the following
LP-Filter parameters:
8-05 End-of-Timeout Function
• Parameter 16-10 Power [kW].
Option: Function:
• Parameter 16-11 Power [hp].
Select the action after receiving a valid control
word following a timeout. • Parameter 16-12 Motor Voltage.
This parameter is active only when • Parameter 16-14 Motor current.
parameter 8-04 Control Timeout Function is set • Parameter 16-16 Torque [Nm].
to:
•
• [7] Set-up 1.
•
Parameter 16-17 Speed [RPM].
Parameter 16-22 Torque [%].

6 6
• [8] Set-up 2.
• Parameter 16-25 Torque [Nm] High.
• [9] Set-up 3.
• [10] Set-up 4. 8-10 Control Word Profile

[0] Hold set- Retains the set-up selected in Instances 20/70 and 21/71 are selectable in
up parameter 8-04 Control Timeout Function and parameter 10-10 Process Data Type Selection.
shows a warning until parameter 8-06 Reset Option: Function:
Control Timeout toggles. Then the frequency [0] * FC profile Instances 100/150 and 101/151 are
converter resumes its original set-up. selectable in parameter 10-10 Process
[1] * Resume Resumes the set-up that was active before the Data Type Selection.
set-up timeout. [1] PROFIdrive profile
[5] ODVA
8-06 Reset Control Word Timeout [7] CANopen DSP 402
This parameter is active only when [0] Hold set-up has been [8] MCO
selected in parameter 8-05 End-of-Timeout Function.
8-13 Configurable Status Word STW
Option: Function:
The status word has 16 bits (0–15). Bits 5 and 12–15 are config-
[0] * Do not reset Retains the set-up specified in
urable. Each of these bits can be configured to any of the
parameter 8-04 Control Word Timeout Function,
following options.
following a control word timeout.
Option: Function:
[1] Do reset Restores the frequency converter to the
[0] No function The input is always low.
original set-up following a control word
timeout. The frequency converter performs [1] Profile Default Depending on the profile set in
the reset and then immediately reverts to the parameter 8-10 Control Profile.
[0] Do not reset setting.
[2] Alarm 68 Only The input goes high whenever
alarm 68, Safe Stop activated is
8-07 Diagnosis Trigger
active, and goes low whenever
This parameter has no function for DeviceNet. alarm 68 Safe Stop activated is not
Option: Function: activate.
[0] * Disable [3] Trip excl Alarm 68
[1] Trigger on alarms [10] T18 DI status
[2] Trigger alarm/warn. [11] T19 DI status
[12] T27 DI status
8-08 Readout Filtering
[13] T29 DI status
If the speed feedback value readouts on fieldbus are fluctuating,
[14] T32 DI status
this function is used. Select filtered, if the function is required. A
[15] T33 DI status
power cycle is required for changes to take effect.
[16] T37 DI status The input goes high whenever
Option: Function: terminal 37 has 0 V and goes low
[0] Motor Data Normal fieldbus readouts. whenever terminal 37 has 24 V.
Std-Filt.

8-13 Configurable Status Word STW 8-14 Configurable Control Word CTW
The status word has 16 bits (0–15). Bits 5 and 12–15 are config- Array [15]
urable. Each of these bits can be configured to any of the Option: Function:
following options.
[4] PID error Inverts the resulting error from the process PID
Option: Function: inverse controller. Available only if
[21] Thermal warning parameter 1-00 Configuration Mode is set to [6]
[30] Brake fault (IGBT) Surface Winder, [7] Extended PID Speed OL, or [8]
[40] Out of ref range Extended PID Speed CL.
[41] Load throttle active [5] PID reset Resets the I-part of the process PID controller.
[60] Comparator 0 I part Equivalent to parameter 7-40 Process PID I-part
[61] Comparator 1 Reset. Available only if parameter 1-00 Configu-
[62] Comparator 2 ration Mode is set to [6] Surface Winder, [7]
[63] Comparator 3 Extended PID Speed OL, or [8] Extended PID Speed
CL.
6 6
[64] Comparator 4
[65] Comparator 5 [6] PID Enables the extended process PID controller.
[70] Logic Rule 0 enable Equivalent to parameter 7-50 Process PID
[71] Logic Rule 1 Extended PID. Available only if
[72] Logic Rule 2 parameter 1-00 Configuration Mode is set to [6]
[73] Logic Rule 3 Surface Winder, [7] Extended PID Speed OL, or [8]
[74] Logic Rule 4 Extended PID Speed CL.
[75] Logic Rule 5
[80] SL digital out A 8-19 Product Code
[81] SL digital out B Range: Function:
[82] SL digital out C Size [0 - Select 0 to read out the actual
[83] SL digital out D related* 2147483647] fieldbus product code according
[84] SL digital out E to the mounted fieldbus option.
[85] SL digital out F Select 1 to read out the actual
[86] ATEX ETR cur. alarm vendor ID.
[87] ATEX ETR freq. alarm
[88] ATEX ETR cur. warning 8-46 BTM Transaction Status
[89] ATEX ETR freq. warning Option: Function:
[90] Safe Function active [0] * Off
[91] Safe Opt. Reset req. [1] Transaction Started
[92] IGBT-cooling See 5-3* Digital Outputs. [2] Transaction Comitting
[3] Transaction Timeout
8-14 Configurable Control Word CTW [4] Err. Non-existing Par.
Array [15] [5] Err. Par. Out of Range
Option: Function: [6] Transaction Failed
This parameter is not valid in software versions 8-47 BTM Timeout

before 4.93.
Range: Function:
[0] None The frequency converter ignores the information 60 s* [1 - 360 s] Select the BTM timeout after a BTM
in this bit. transaction has been started.
[1] Profile The functionality of the bit is depending on the
* default selection parameter 8-10 Control Word Profile. 8-48 BTM Maximum Errors
[2] CTW If set to 1, the frequency converter ignores the Range: Function:
Valid, remaining bits of the control word. 21* [0 - 21] Selects the maximum allowed number of bulk
active transfer mode errors before aborting. If it is set to
low maximum, there is no abort.
[3] Safe This function is only available in bits 12–15 of
Option the control word, if a safety option is mounted
Reset in the frequency converter. The reset is executed
on a 0⇒1 transition, and resets the safety option
as set in parameter 42-24 Restart Behaviour.

8-49 BTM Error Log 8-53 Start Select

Range: Function: Option: Function:
0.255* [0.000 - List of parameters that failed during Select control of the frequency converter start
9999.255] bulk transfer mode. The value after the function via the terminals (digital input) and/or
decimal break is the fault code (255 via the fieldbus.
stands for no error).
[0] Digital Activates a start command via a digital input.
input
8-50 Coasting Select
[1] Bus Activates a start command via the serial
Option: Function: communication port or fieldbus option.
Select control of the coasting function via the
[2] Logic Activates a start command via the fieldbus/
terminals (digital input) and/or via the bus.
AND serial communication port and also via 1 of the
[0] Digital Activates start command via a digital input. digital inputs.
input
[3] * Logic OR Activates a start command via the fieldbus/
6 6
[1] Bus Activates start command via the serial
serial communication port or via 1 of the digital
communication port or fieldbus option.
inputs.
[2] Logic AND Activates start command via the fieldbus/serial
communication port and 1 extra digital input. 8-54 Reversing Select
[3] * Logic OR Activates start command via the fieldbus/serial Option: Function:
communication port or via 1 of the digital [0] Digital Select control of the frequency converter reverse
inputs. input function via the terminals (digital input) and/or
via the fieldbus.
8-51 Quick Stop Select
[1] Bus Activates the reverse command via the serial
Select control of the quick stop function via the terminals (digital communication port or fieldbus option.
input) and/or via the bus.
[2] Logic AND Activates the reverse command via the fieldbus/
Option: Function: serial communication port and also via 1 of the
[0] Digital input digital inputs.
[1] Bus
[3] Logic OR Activates the reverse command via the fieldbus/
[2] Logic AND
[3] * Logic OR
inputs.
8-52 DC Brake Select
8-55 Set-up Select
Option: Function:
Option: Function:
Select control of the DC brake via the terminals
(digital input) and/or via the fieldbus. Select control of the frequency converter set-up
selection via the terminals (digital input) and/or
NOTICE via the fieldbus.
When parameter 1-10 Motor Construction is
[0] Digital Activates the set-up selection via a digital input.
set to [1] PM non-salient SPM, only selection
input
[0] Digital input is available.
[1] Bus Activates the set-up selection via the serial
communication port or fieldbus option.
[0] Digital Activates a start command via a digital input.
input [2] Logic Activates the set-up selection via the fieldbus/
AND serial communication port and via 1 of the
[1] Bus Activates a start command via the serial communi-
digital inputs.
cation port or fieldbus option.
[3] * Logic OR Activates the set-up selection via the fieldbus/
[2] Logic Activates a start command via the fieldbus/serial
AND communication port, and also via 1 of the digital
inputs.
inputs.
[3] Logic OR Activates a start command via the fieldbus/serial 8-56 Preset Reference Select
communication port, or via 1 of the digital inputs.
Option: Function:
Select control of the preset reference selection
via the terminals (digital input) and/or via the
fieldbus.

8-56 Preset Reference Select 10-05 Readout Transmit Error Counter

Option: Function: Range: Function:
[0] Digital Activates preset reference selection via a digital 0* [0 - 255 ] View the number of CAN control transmission
input input. errors since the last power-up.
[1] Bus Activates preset reference selection via the

10-06 Readout Receive Error Counter
serial communication port or fieldbus option.
Range: Function:
[2] Logic AND Activates preset reference selection via the
0* [0 - 255 ] View the number of CAN control receipt errors
fieldbus/serial communication port and via 1 of
since the last power-up.
the digital inputs.
[3] * Logic OR Activates the preset reference selection via the 10-07 Readout Bus Off Counter
fieldbus/serial communication port or via 1 of
Range: Function:
the digital inputs.
0* [0 - 255 ] View the number of fieldbus off events since the
6 6
last power-up.
8-90 Bus Jog 1 Speed
Range: Function: 10-10 Process Data Type Selection
100 RPM* [ 0 - par. 4-13 Enter the jog speed. Activate this
Option: Function:
RPM] fixed jog speed via the serial port
Select the instance (telegram) for data
or fieldbus option.
transmission. The instances available depend
on the setting of parameter 8-10 Control
8-91 Bus Jog 2 Speed
Profile.
Range: Function: When parameter 8-10 Control Profile is set to
200 RPM* [ 0 - par. 4-13 Enter the jog speed. Activate this [0] FC profile, parameter 10-10 Process Data
RPM] fixed jog speed via the serial port Type Selection options [0] INSTANCE 100/150
or fieldbus option. and [1] INSTANCE 101/151 are available.
When parameter 8-10 Control Profile is set to
10-00 CAN Protocol [5] ODVA, parameter 10-10 Process Data Type
Option: Function: Selection options [2] INSTANCE 20/70 and [3]
NOTICE INSTANCE 21/71 are available.

Instances 100/150 and 101/151 are Danfoss-
The options depend on the installed
specific. Instances 20/70 and 21/71 are ODVA-
option.
specific AC motor profiles.
For guidelines in telegram selection, refer to
[0] CANopen
the VLT® DeviceNet MCA 104 Installation Guide.
[1] DeviceNet View the active CAN protocol.
NOTICE
10-01 Baud Rate Select A change to this parameter is executed
Select the fieldbus transmission speed. The selection must immediately.
correspond to the transmission speed of the master and the
other fieldbus nodes. [0] INSTANCE
Option: Function: 100/150
[1] INSTANCE
[16] 10 Kbps
101/151
[17] 20 Kbps
[2] INSTANCE
[18] 50 Kbps
20/70
[19] 100 Kbps
[3] INSTANCE
[20] 125 Kbps
21/71
[21] 250 Kbps
[22] 500 Kbps 10-11 Process Data Config Write
Select the process write data for I/O assembly instances 101/151.
10-02 MAC ID
Elements [2] and [3] of this array can be selected. Elements [0]
Range: Function: and [1] of the array are fixed.
Size related* [ 0 - 63 ] Selection of station address. Every
Option: Function:
station connected to the same
[0] None
DeviceNet network must have an
unambiguous address. [302] Minimum Reference

10-11 Process Data Config Write 10-12 Process Data Config Read
Select the process write data for I/O assembly instances 101/151. Select the process read data for I/O assembly instances 101/151.
Elements [2] and [3] of this array can be selected. Elements [0] Elements [2] and [3] of this array can be selected. Elements [0]
and [1] of the array are fixed. and [1] of the array are fixed.
[303] Maximum Reference [1600] Control Word
[312] Catch up/slow Down Value [1601] Reference [Unit]
[341] Ramp 1 Ramp Up Time [1602] Reference %
[342] Ramp 1 Ramp Down Time [1603] Status Word
[351] Ramp 2 Ramp Up Time [1605] Main Actual Value [%]
[352] Ramp 2 Ramp Down Time [1606] Absolute Position
[380] Jog Ramp Time [1609] Custom Readout
[381] Quick Stop Ramp Time [1610] Power [kW]
6 6
[411] Motor Speed Low Limit [RPM] [1611] Power [hp]
[412] Motor Speed Low Limit [Hz] [1612] Motor Voltage
[413] Motor Speed High Limit [RPM] [1613] Frequency
[414] Motor Speed High Limit [Hz] [1614] Motor current
[416] Torque Limit Motor Mode [1615] Frequency [%]
[417] Torque Limit Generator Mode [1616] Torque [Nm]
[553] Term. 29 High Ref./Feedb. Value [1617] Speed [RPM]
[558] Term. 33 High Ref./Feedb. Value [1618] Motor Thermal
[590] Digital & Relay Bus Control [1619] KTY sensor temperature
[593] Pulse Out #27 Bus Control [1620] Motor Angle
[595] Pulse Out #29 Bus Control [1621] Torque [%] High Res.
[597] Pulse Out #X30/6 Bus Control [1622] Torque [%]
[615] Terminal 53 High Ref./Feedb. [1623] Motor Shaft Power [kW]
Value [1624] Calibrated Stator Resistance
[625] Terminal 54 High Ref./Feedb. [1625] Torque [Nm] High
Value [1630] DC Link Voltage
[653] Term 42 Output Bus Ctrl [1632] Brake Energy /s
[663] Terminal X30/8 Bus Control [1633] Brake Energy Average
[673] Terminal X45/1 Bus Control [1634] Heatsink Temp.
[683] Terminal X45/3 Bus Control [1635] Inverter Thermal
[748] PCD Feed Forward [1638] SL Controller State
[890] Bus Jog 1 Speed [1639] Control Card Temp.
[891] Bus Jog 2 Speed [1645] Motor Phase U Current
[1680] Fieldbus CTW 1 [1646] Motor Phase V Current
[1682] Fieldbus REF 1 [1647] Motor Phase W Current
[1685] FC Port CTW 1 [1648] Speed Ref. After Ramp [RPM]
[1686] FC Port REF 1 [1650] External Reference
[1651] Pulse Reference
10-12 Process Data Config Read
[1652] Feedback[Unit]
Select the process read data for I/O assembly instances 101/151.
[1653] Digi Pot Reference
Elements [2] and [3] of this array can be selected. Elements [0]
[1657] Feedback [RPM]
and [1] of the array are fixed.
[1660] Digital Input
Option: Function: [1661] Terminal 53 Switch Setting
[0] None [1662] Analog Input 53
[15] Readout: actual setup [1663] Terminal 54 Switch Setting
[1472] Legacy Alarm Word [1664] Analog Input 54
[1473] Legacy Warning Word [1665] Analog Output 42 [mA]
[1474] Leg. Ext. Status Word [1666] Digital Output [bin]
[1500] Operating hours [1667] Freq. Input #29 [Hz]
[1501] Running Hours [1668] Freq. Input #33 [Hz]
[1502] kWh Counter [1669] Pulse Output #27 [Hz]

10-12 Process Data Config Read 10-12 Process Data Config Read
Select the process read data for I/O assembly instances 101/151. Select the process read data for I/O assembly instances 101/151.
Elements [2] and [3] of this array can be selected. Elements [0] Elements [2] and [3] of this array can be selected. Elements [0]
and [1] of the array are fixed. and [1] of the array are fixed.
[1670] Pulse Output #29 [Hz] [3461] Axis Status
[1671] Relay Output [bin] [3462] Program Status
[1672] Counter A [3464] MCO 302 Status
[1673] Counter B [3465] MCO 302 Control
[1674] Prec. Stop Counter [3470] MCO Alarm Word 1
[1675] Analog In X30/11 [3471] MCO Alarm Word 2
[1676] Analog In X30/12 [4280] Safe Option Status
[1677] Analog Out X30/8 [mA] [4282] Safe Control Word
6 6
[1678] Analog Out X45/1 [mA] [4283] Safe Status Word
[1679] Analog Out X45/3 [mA] [4285] Active Safe Func.
[1684] Comm. Option STW [4287] Time Until Manual Test
[1687] Bus Readout Alarm/Warning
10-13 Warning Parameter
[1689] Configurable Alarm/Warning Word
[1690] Alarm Word Range: Function:
[1691] Alarm Word 2 0* [0 - 65535 ] View a DeviceNet-specific warning word. One
[1692] Warning Word bit is assigned to every warning. Refer to the
[1693] Warning Word 2 VLT® MCA 104 DeviceNet Installation Guide for
[1694] Ext. Status Word further information.
[1836] Analog Input X48/2 [mA]

[1837] Temp. Input X48/4 Bit Description
[1838] Temp. Input X48/7 0 Bus not active.
[1839] Temp. Input X48/10 1 Explicit connection timeout.
[1843] Analog Out X49/7 2 I/O connection.
[1844] Analog Out X49/9 3 Retry limit reached.
[1845] Analog Out X49/11 4 Actual is not updated.
[1860] Digital Input 2 5 CAN bus off.
[3421] PCD 1 Read from MCO 6 I/O send error.
[3422] PCD 2 Read from MCO 7 Initialization error.
[3423] PCD 3 Read from MCO 8 No bus supply.
[3424] PCD 4 Read from MCO 9 Bus off.
[3425] PCD 5 Read from MCO 10 Error passive.
[3426] PCD 6 Read from MCO 11 Error warning.
[3427] PCD 7 Read from MCO 12 Duplicate MAC ID error.
[3428] PCD 8 Read from MCO 13 RX queue overrun.
[3429] PCD 9 Read from MCO 14 TX queue overrun.
[3430] PCD 10 Read from MCO 15 CAN overrun.
[3440] Digital Inputs

Table 6.1 Warning Bits
[3441] Digital Outputs
[3450] Actual Position
10-14 Net Reference
[3451] Commanded Position
Read only from LCP.
[3452] Actual Master Position
[3453] Slave Index Position Option: Function:
[3454] Master Index Position Select the reference source in instances 21/71 and
[3455] Curve Position 20/70.
[3456] Track Error [0] * Off Enables reference via analog/digital inputs.
[3457] Synchronizing Error
[1] On Enables reference via the fieldbus.
[3458] Actual Velocity
[3459] Actual Master Velocity
[3460] Synchronizing Status

10-15 Net Control 10-31 Store Data Values

Read only from LCP. Option: Function:
Option: Function: [2] Store all All parameter values are stored in the non-
Select the control source in instances 21/71 and 20/70. setups volatile memory. The value returns to [0] Off
when all parameter values are stored.
[0] * Off Enables control via analog/digital inputs.
[1] On Enable control via the fieldbus. 10-32 Devicenet Revision

Range: Function:
10-20 COS Filter 1 0* [0 - 65535 ] View the DeviceNet revision number. This
Range: Function: parameter is used for EDS file creation.
0* [0 - 65535] Sets up the filter mask for the status word.
When operating in COS (change-of-state), it is 10-33 Store Always
possible to filter out bits in the status word that This parameter is used to select whether parameter data received
should not be sent if they change. via the DeviceNet option should always be stored in non-volatile
10-21 COS Filter 2

memory. 6 6
Option: Function:
Range: Function: [0] * Off
0* [0 - 65535] Sets up the filter mask for the main actual [1] On
value. When operating in COS (change-of-state),
it is possible to filter out bits in the main actual 10-34 DeviceNet Product Code
value that should not be sent if they change. Range: Function:
Size related* [0 - 65535]
10-22 COS Filter 3
Range: Function: 16-90 Alarm Word
0* [0 - 65535] Sets up the filter mask for PCD 3. When Range: Function:
operating in COS (change-of-state), it is possible 0* [0 - 4294967295 ] View the alarm word sent via the serial
to filter out bits in PCD 3 that should not be communication port in hex code.
sent if they change.
16-91 Alarm Word 2
10-23 COS Filter 4 Range: Function:
Range: Function: 0* [0 - 4294967295] View the alarm word sent via the serial
0* [0 - 65535] Sets up the filter mask for PCD 4. When communication port in hex code.
operating in COS (change-pf-state), it is possible
to filter out bits in PCD 4 that should not be 16-92 Warning Word
sent if they change. Range: Function:
0* [0 - 4294967295 ] View the warning word sent via the serial
10-30 Array Index
communication port in hex code.
Range: Function:
0* [0 - 255 ] View array parameters. This parameter is valid 16-93 Warning Word 2
only when a VLT® DeviceNet MCA 104 is installed. Range: Function:
0* [0 - 4294967295] View the warning word sent via the serial
10-31 Store Data Values communication port in hex code.
Option: Function:
This parameter is used to activate a function that 16-94 Ext. Status Word
stores all parameter values in the non-volatile Range: Function:
memory thus retaining changed parameter 0* [0 - 4294967295] Returns the extended warning word sent
values at power down. via the serial communication port in hex
[0] Off The store function is inactive. code.
[1] Store all All parameter values in the set-up selected are
setups stored in the non-volatile memory.
The value returns to [0] Off when all values are
stored.

6.2 Parameter List

Parameter Default value Range Conversion Data type
index
Parameter 8-01 Control Site [0] Dig. & ctrl. word [0–2] – 5
Parameter 8-02 Control Word Source [0] FC RS485 [0–4] – 5
Parameter 8-03 Control Word Timeout Time 1s 0.1–18000 -1 7
Parameter 8-04 Control Word Timeout Function [0] Off [0–10] -1 5
Parameter 8-05 End-of-Timeout Function [0] Hold set-up [0–1] – 5
Parameter 8-06 Reset Control Word Timeout [0] Do not reset [0–1] – 5
Parameter 8-07 Diagnosis Trigger [0] Disable [0–3] – 5
Parameter 8-10 Control Word Profile [0] FC profile [0–x] – 5
Parameter 8-50 Coasting Select [3] Logic OR [0–3] – 5
Parameter 8-51 Quick Stop Select [3] Logic OR [0–3] – 5
6 6 Parameter 8-52 DC Brake Select

Parameter 8-53 Start Select
[3] Logic OR
[3] Logic OR
[0–3]
[0–3]
–
–
5
5
Parameter 8-54 Reversing Select [3] Logic OR [0–3] – 5
Parameter 8-55 Set-up Select [3] Logic OR [0–3] – 5
Parameter 8-56 Preset Reference Select [3] Logic OR [0–3] – 5
Parameter 8-90 Bus Jog 1 Speed 100 RPM 0–parameter 4-13 Motor 67 6
Speed High Limit [RPM]
Parameter 8-91 Bus Jog 2 Speed 200 RPM 0–parameter 4-13 Motor 67 6
Speed High Limit [RPM]
Parameter 10-00 CAN Protocol [1] DeviceNet [0–1] – 5
Parameter 10-01 Baud Rate Select [20] 125 Kbps [20–22] – 5
Parameter 10-02 MAC ID 63 0–63 0 5
Parameter 10-05 Readout Transmit Error
Counter 0 0–255 0 5
Parameter 10-06 Readout Receive Error Counter 0 0–255 0 6
Parameter 10-07 Readout Bus Off Counter 0 0–1000 0
Parameter 10-10 Process Data Type Selection [0]/[2] [0–3] 0 5
Parameter 10-11 Process Data Config Write 0 list 0 5
Parameter 10-12 Process Data Config Read 0 list 0 5
Parameter 10-13 Warning Parameter 0 0–FFFF 0 5
Parameter 10-14 Net Reference [0] Off [0–1] – 5
Parameter 10-15 Net Control [0] Off [0–1] – 5
Parameter 10-20 COS Filter 1 0 0–FFFF 0 6
Parameter 10-31 Store Data Values [0] Off [0–2] – 5
Parameter 10-32 Devicenet Revision – – – 6
Parameter 10-33 Store Always [0] Off [0–1] – 5
Parameter 16-90 Alarm Word 0 0–FFFF 0 7
Parameter 16-92 Warning Word 0 0–FFFF 0 7
Table 6.2 Parameter List

6.3 Data Types Supported

6.3.1 Object and Data Types Supported
Data type Description

3 Integer 16
4 Integer 32
5 Unsigned 8
6 Unsigned 16
7 Unsigned 32
9 Visible string
10 Byte string
33 Standardized value (16 bit)
35 Bit sequence
41
42
Byte
Word
6 6
Table 6.3 Data Types Supported
6.3.2 Conversion Index
Conversion index refers to a conversion figure used when

writing or reading to parameters.
Conversion Conversion
index factor
100 1
67 1/60
6 1000000
5 100000
4 10000
3 1000
2 100
1 10
0 1
-1 0.1
-2 0.01
-3 0.001
-4 0.0001
-5 0.00001
-6 0.000001
Table 6.4 Conversion Index

Application Examples VLT® DeviceNet MCA 104
7 Application Examples
7.1 Example: Working with Instance Parameter Function Setting
101/151 Process Parameter 4-10 Motor Motor speed range/ [2] Both
Speed Direction direction directions
This example shows how to work with I/O instance Parameter 5-10 Termin Digital input 18 [0] No operation
101/151, which consists of control word/status word and al 18 Digital Input
reference/main actual value. The instance 101/151 also has Parameter 5-11 Termin Digital input 19 [10] Reversing
2 extra words, which can be programmed to monitor al 19 Digital Input
process signals, as shown in Illustration 7.1. Parameter 5-40 Functio Function relay [36] Control word
n Relay bit 11
[37] Control word
130BA123.10
DeviceNet master
bit 12
Parameter 8-03 Control Control word timeout 1.0 s
Word Timeout Time time
DeviceNet Parameter 8-04 Control Control word timeout [2] Stop
7 7 Word Timeout Function function
Parameter 8-10 Control Control word profile FC Profile
Word Profile
Relay 04–05
Parameter 8-50 Coastin Coasting select [1] Bus
N
g Select
230 V AC Parameter 8-51 Quick Quick-stop select [1] Bus
Ext. Device
Stop Select
18 20 19
Parameter 8-52 DC DC-brake select [1] Bus
Brake Select
Sensor 0–24 V DC
Parameter 8-53 Start Start select [1] Bus
Select
Reversing Parameter 8-54 Reversi Reversing select [2] Logic AND
ng Select
Illustration 7.1 Instance 101/151 Process Parameter 8-55 Set-up Set-up select [1] Bus
Select
Parameter 8-56 Preset Preset reference [1] Bus
The application requires monitoring of the motor torque Reference Select select
and digital input, so PCD 3 is set up to read the actual Parameter 10-01 Baud Baud rate select Set to match
motor torque. PCD 4 is set up to monitor the state of an Rate Select other DeviceNet
external sensor via the process signal digital input. The stations
sensor is connected to digital input 18. Parameter 10-02 MAC MAC ID Set desired
ID station address
An external device is also controlled via control word bit Parameter 10-10 Proces Process data type [1] Instance
11 and the built-in relay of the frequency converter. s Data Type Selection selection 101/151
Parameter 10-12 Proces Process Data Config PCD 3: Torque
Reversing is permitted only when the reversing bit 15 in s Data Config Read Read PCD 4: Digital
the control word and the digital input 19 are set to high. input
Table 7.1 Function and Setting of the Parameters

For safety reasons the frequency converter stops the motor
when:
• The DeviceNet cable is broken.
• The master has a system failure.
• The PLC is in stop mode.

Application Examples Programming Guide
7.1.1 Example of PLC Programming
In this example, instance 101/151 is placed in the following

input/output address, see Table 7.2 and Table 7.3.
Input 0.0–0.15 0.16–0.31 1.0–1.15 1.16–1.31

address
Set-up Status MAV Motor Digital
word torque input
Table 7.2 Input Address
7 7
Illustration 7.3 Output
Illustration 7.2 Input
Output 0.0–0.15 0.16–0.31 1.0–1.15 1.16–1.31

address
Set-up Control Reference Not used Not used
word
Table 7.3 Output Address

Troubleshooting VLT® DeviceNet MCA 104
8 Troubleshooting
8.1 LED Status

The 2 bicolor LEDs on the DeviceNet card indicate the
status of DeviceNet communication:
• The lower LED (NS) indicates the net status.
• The upper LED (MS) indicates the module status.
8 8
MS Upper left LED
NS Lower left LED
Illustration 8.1 LED Panel DeviceNet MCA 104
State Bicolor LED Status

No Power Off – There is no power applied to the option.
Device Green The DeviceNet option operates in normal
operational condition.
Standby Green The DeviceNet option needs commis-
sioning due to configuration missing,
incomplete, or incorrect.
Minor fault Red Recoverable fault.
Unrecov- Red Unrecoverable fault, may need replacing.

erable fault
Self-test Green The DeviceNet option is in self-test
mode.
Red
Table 8.1 LED: Module Status (MS)

Troubleshooting Programming Guide
State Bicolor LED Status

No Off – The option has not completed “Duplicate
Power/Not MAC ID” test yet or may not be powered.
on-line
On-line, not Green The option is on-line, but not allocated
connected to a master.
On-line and Green The DeviceNet option is on-line and
connected connected to a master.
Connection Red One or more I/O connections are in
timeout timeout state.
Critical link Red –
failure
Table 8.2 LED: Network Status (NS)
8.2 No Communication with the Frequency
195NA228.10
24 V
Power supply
Converter Trunk line
RT RT
When there is no communication with the frequency
1
converter, proceed with the following checks:
1. Check that cabling is correct.
Check that the cables are connected to the
1 1 1
8 8
correct terminals as shown in Illustration 8.2.
Drop lines 1
RT=Termination resistors
Illustration 8.3 Topology
8.3 Frequency Converter Does Not Respond

to Control Signals
For Danfoss control word profile (instances 100/150 and
Pin number Terminal Color Name
101/151), check that:
1 V- Black GND
2 CAN_L Blue CAN LOW 1. The control word is valid.
3 Drain (bare) Screen When bit 10=0 in the control word, the frequency
4 CAN_H White CAN HIGH converter does not accept the control word,
5 V+ Red +24 V because the default setting is bit 10=1.
Set bit 10=1 via the PLC.
Illustration 8.2 Correct Cabling 2. The relationship between bits in the control word
and the terminal I/O is correct.
Check the logical relationship in the frequency
2. The 24 V network voltage is applied. converter.
Set the logic to bit 3=1 and digital input=1 to
3. The correct EDS file is installed. Download the
achieve a successful start.
correct EDS file from www.danfoss.com/drives.
4. Check that the bus connection is terminated at Define the logical relationship in parameter 8-50 Coasting
both ends. Select to parameter 8-56 Preset Reference Select according to
If not, terminate the bus connection with the following range of options. Select the FC control mode,
termination resistors at the initial and final nodes. digital input and/or bus communication, using
Refer to Illustration 8.3. Termination is performed
between terminal 2 (CAN_L) and 4 (CAN_H) with
a resistor: 121 Ω, 1% metal film, ¼ W.

parameter 8-50 Coasting Select to parameter 8-56 Preset The effect of control mode after the function of
Reference Select. parameter 8-53 Start Select and parameter 8-54 Reversing
Select are shown in Table 8.7, Table 8.8, Table 8.9, and
The effect of control mode after the function of Table 8.10:
parameter 8-50 Coasting Select, parameter 8-51 Quick Stop
Select, and parameter 8-52 DC Brake Select are shown in If [0] Digital Input is selected, terminals control the start
Table 8.3, Table 8.4, Table 8.5, and Table 8.6: and reversing functions.
If [0] Digital input is selected, terminals control the coast Terminal Bit 06/15 Function
and DC brake functions. 0 0 Stop/Counter-clockwise
0 1 Stop/Counter-clockwise
Terminal Bit 02/03/04 Function 1 0 Start/Clockwise
0 0 Coast/DC brake/Q-Stop 1 1 Start/Clockwise
0 1 Coast/DC brake/Q-Stop
Table 8.7 Parameter 8-53/54 Setting: [0] Digital input
1 0 No Coast/DC brake/Q-Stop
If [1] Bus is selected, commands are activated only when
Table 8.3 Parameter 8-50/51/52 Setting: [0] Digital Input given via the control word.
If [1] Bus is selected, commands are activated only when Terminal Bit 02/03/04 Function
8 8
given via the control word. 0 0 Stop/Counter-clockwise
0 1 Start/Clockwise
Terminal Bit 02/03/04 Function 1 0 Stop/Counter-clockwise
Table 8.8 Parameter 8-53/54 Setting: [1] Bus
If [2] Logic AND is selected, activate both signals to perform
Table 8.4 Parameter 8-50/51/52 Setting: [1] Bus the function.
If [2] Logic AND is selected, activate both signals to perform Terminal Bit 02/03/04 Function
the function. 0 0 Stop/Counter-clockwise
0 1 Stop/Counter-clockwise
Terminal Bit 02/03/04 Function 1 0 Stop/Counter-clockwise
Table 8.9 Parameter 8-53/54 Setting: [2] Logic AND
If [3] Logic OR is selected, activation of 1 signal activates
Table 8.5 Parameter 8-50/51/52 Setting: [2] Logic AND the function.
If [3] Logic OR is selected, activation of 1 signal activates Terminal Bit 02/03/04 Function
the function. 0 0 Stop/Counter-clockwise
0 1 Start/Clockwise
Terminal Bit 02/03/04 Function 1 0 Start/Clockwise
Table 8.10 Parameter 8-53/54 Setting: [3] Logic OR
The effect of control mode after the function of
Table 8.6 Parameter 8-50/51/52 Setting: [3] Logic OR parameter 8-55 Set-up Select and parameter 8-56 Preset
Reference Select are shown in Table 8.11, Table 8.12,
NOTICE Table 8.13, and Table 8.14:
Coasting, Quick Stop, and DC brake functions are active

for logic 0’. If [0] Digital input is selected, the terminals control the set-
up and preset reference functions.

Terminal Bit 00/01, 13/14 Function If [2] Logic AND is selected, activate both signals to perform
Msb Lsb Msb Lsb Preset reference, set-up the function.
number
0 0 0 0 1 Terminal Bit 00/01, 13/14 Function
0 0 0 1 1 Msb Lsb Msb Lsb Preset reference, Set-up
0 0 1 0 1 number
0 0 1 1 1 0 0 0 0 1
0 1 0 0 2 0 0 0 1 1
0 1 0 1 2 0 0 1 0 1
0 1 1 0 2 0 0 1 1 1
0 1 1 1 2 0 1 0 0 1
1 0 0 0 3 0 1 0 1 2
1 0 0 1 3 0 1 1 0 1
1 0 1 0 3 0 1 1 1 2
1 0 1 1 3 1 0 0 0 1
1 1 0 0 4 1 0 0 1 1
1 1 0 1 4 1 0 1 0 3
1 1 1 0 4 1 0 1 1 3
1 1 1 1 4 1 1 0 0 1
1 1 0 1 2
Table 8.11 Parameter 8-55/56 Setting: [0] Digital input 1 1 1 0 3 8 8
1 1 1 1 4
If [1] Bus is selected, commands are activated only when
given via the control word. Table 8.13 Parameter 8-55/56: [2] Logic AND
Terminal Bit 00/01, 13/14 Function If [3] Logic OR is selected, activation of 1 signal activates
Msb Lsb Msb Lsb Preset reference, set-up
the function.
number
0 0 0 0 1 Terminal Bit 00/01, 13/14 Function
0 0 0 1 2 Msb Lsb Msb Lsb Preset reference, set-up
0 0 1 0 3 number
0 0 1 1 4 0 0 0 0 1
0 1 0 0 1 0 0 0 1 2
0 1 0 1 2 0 0 1 0 3
0 1 1 0 3 0 0 1 1 4
0 1 1 1 4 0 1 0 0 2
1 0 0 0 1 0 1 0 1 2
1 0 0 1 2 0 1 1 0 4
1 0 1 0 3 0 1 1 1 4
1 0 1 1 4 1 0 0 0 3
1 1 0 0 1 1 0 0 1 4
1 1 0 1 2 1 0 1 0 3
1 1 1 0 3 1 0 1 1 4
1 1 1 1 4 1 1 0 0 4
1 1 0 1 4
Table 8.12 Parameter 8-55/56 Setting: [1] Bus 1 1 1 0 4
Table 8.14 Parameter 8-55/56 Setting: [3] Logic OR

8.4 Warnings and Alarms

NOTICE
Refer to the relevant operating instructions for an overview of warning and alarm types and for the full list of warnings
and alarms.
Alarm word, warning word, and DeviceNet warning word are shown on the frequency converter display in hex format. When
there is more than 1 warning or alarm, the sum of all warnings or alarms is shown. Alarm word, warning word, and
DeviceNet warning word can also be shown using the serial bus in parameter 16-90 Alarm Word, parameter 16-92 Warning
Word, and parameter 16-05 Main Actual Value [%].
Bit (Hex) Alarm word Alarm number Major/ Recoverable/

(parameter 16-90 Alarm Word) minor alarm unrecoverable alarm
00000001 Unused – – –
00000002 Drive overtemperature 29 Major Recoverable
00000004 Ground fault 14 Major Unrecoverable
00000008 Unused – – –
00000010 Control word timeout 18 Minor Recoverable
00000020 Overcurrent 13 Major Unrecoverable
00000040 Torque limit 12 Major Recoverable
8 8 00000080
00000100
Motor thermistor over temp.
Motor ETR overtemperature
11
10
Major
Major
Recoverable
Recoverable
00000200 Inverter overloaded 9 Major Recoverable
00000400 DC link undervoltage 8 Major Recoverable
00000800 DC link overvoltage 7 Major Recoverable
00001000 Short circuit 16 Major Unrecoverable
00002000 Inrush fault 33 Major Recoverable
00004000 Mains phase loss 4 Major Unrecoverable
00008000 AMA not OK 50 Major Recoverable
00010000 Live zero error 2 Major Recoverable
00020000 Internal fault 38 Major Unrecoverable
00040000 Brake resistor power limit 26 Major Unrecoverable
00080000 Motor phase U is missing 30 Major Unrecoverable
00100000 Motor phase V is missing 31 Major Unrecoverable
00200000 Motor phase W is missing 32 Major Unrecoverable
00400000 Fieldbus comm. fault 34 Major Recoverable
00800000 24 V supply fault 47 Major Unrecoverable
01000000 Mains failure 36 Major Recoverable
02000000 1.8 V supply fault 48 Major Unrecoverable
04000000 Brake resistor short circuit 25 Major Recoverable
08000000 Brake chopper fault 27 Major Recoverable
10000000 Unused – – –
20000000 Unused – – –
40000000 Unused – – –
80000000 Unused – – –
Table 8.15 Alarm Word

Bit (Hex) Warning word Warning

(parameter 16-92 Warning number
Word)
00000001 Unused –
00000002 Drive over temperature 29
00000004 Ground fault 14
00000008 Unused –
00000010 Control word timeout 18
00000020 Overcurrent 13
00000040 Torque limit 12
00000080 Motor thermistor over temp. 11
00000100 Motor ETR overtemperature 10
00000200 Inverter overloaded 9
00000400 DC link undervoltage 8
00000800 DC link overvoltage 7
00001000 DC-link voltage low 6
00002000 DC-link voltage high 5
00004000 Mains phase loss 4
00008000 No motor 3
00010000 Live zero error 2
00020000
00040000
10 V low
Brake resistor power limit
1
26
8 8
00080000 Brake resistor short circuit 25
00100000 Brake chopper fault 27
00200000 Speed limit 49
00400000 Fieldbus comm. fault 34
00800000 24 V supply fault 47
01000000 Mains failure 36
02000000 Current limit 59
04000000 Unused –
08000000 Unused –
10000000 Unused –
20000000 Unused –
40000000 Unused –
80000000 Warning word 2 (ext. stat. –
word)
Table 8.16 Warning Word

Index VLT® DeviceNet MCA 104
Index Product overview.................................................................................... 3
A Q
Abbreviation............................................................................................. 4 Qualified personnel................................................................................ 5
Additional resources.............................................................................. 3
Address switch......................................................................................... 7
S
Alarm word............................................................................................. 44 Safety........................................................................................................... 6
Alarms....................................................................................................... 44 Symbol........................................................................................................ 4
Approvals................................................................................................... 4
T
B Topology.................................................................................................... 3
Baud rate.................................................................................................... 7
U
C Unintended start..................................................................................... 5
Certifications............................................................................................. 4
W
Configuration......................................................................................... 28
Warning word........................................................................................ 44
Control signals, no response............................................................ 41
Warnings.................................................................................................. 44
Convention................................................................................................ 4
Conversion index.................................................................................. 37
D
Danfoss object classes........................................................................ 27
Data types supported......................................................................... 37
Discharge time......................................................................................... 5
E
EDS file........................................................................................................ 8
H
High voltage............................................................................................. 5
I
I/O assembly instance......................................................................... 10
L
Leakage current....................................................................................... 5
LED............................................................................................................... 4
LED panel................................................................................................. 40
LED status................................................................................................ 40
Load sharing............................................................................................. 5
N
No communication with the frequency converter................... 41
P
Polling......................................................................................................... 9
Process data............................................................................................ 10

Index Programming Guide

Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to
products already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed. All trademarks in this material are property
of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.
Danfoss A/S
Ulsnaes 1
DK-6300 Graasten
vlt-drives.danfoss.com
130R0618 MG92F102 12/2015
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MAKING MODERN LIVING POSSIBLE

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 1

8.3 Frequency Converter Does Not Respond to Control Signals 41

2 Danfoss A/S © 12/2015 All rights reserved. MG92F102

1.1 Purpose of the Manual 1.4 Product Overview

and some typical application examples. RT RT

1.3 Document and Software Version

Table 1.1 Document and Software Version

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 3

1 1 VLT® DeviceNet MCA 104 is designed to communicate with Abbreviation Definition

• VLT® AQUA Drive FC 202

1.6 Symbols, Abbreviations and • Parameter group name.

4 Danfoss A/S © 12/2015 All rights reserved. MG92F102

NOTICE • Disconnect the frequency converter from the

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 5

6 Danfoss A/S © 12/2015 All rights reserved. MG92F102

3.1.4 Setting the Baud Rate

All DeviceNet stations connected to the same bus network

Table 3.1 Settings for the Address Switches

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 7

8 Danfoss A/S © 12/2015 All rights reserved. MG92F102

4.1 DeviceNet Process Control Modes 4.1.1 Polling

Master ⇒ Slave CTW MRV

Slave ⇒ Master STW MAV

Table 4.1 Standard DeviceNet Operation Mode - Polled I/O

4.1.2 Change of State, COS

Illustration 4.1 Different PCDs and the Corresponding Filter Parameters

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 9

4.2 I/O Assembly Instances

Illustration 4.2 I/O Assembly Instance Options

4.3 Process Data

10 Danfoss A/S © 12/2015 All rights reserved. MG92F102

Instance Originator (PLC) --> Target (Drive)

20 CTW REF 70 STW MAV

21 CTW REF 71 STW MAV

100 CTW REF 150 STW MAV

PCD 2 PCD 3 PCD 2 PCD 3

Fixed contents User defined contents

Illustration 4.3 Process Data

4.4 ODVA Control Profile Explanation of the bits:

Table 4.2 Bits in Instances 20 and 21

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 11

NOTICE Bit 3, Running 2

4 4 and 21/71 Bit 4 = 1: The state attribute is ready, enabled, or stopping.

12 Danfoss A/S © 12/2015 All rights reserved. MG92F102

4.5 FC Control Profile

The actual reference [Ref. %] in the frequency converter

Table 4.5 Bits in Instances 100, 101, and 102

Explanation of the control bits:

Programmed Parameter Bit 01 Bit 00

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 13

NOTICE Bit 07, Reset

Bit 02, DC brake Bit 08, Jog

4 4 and parameter 2-02 DC Braking Time.

NOTICE Bit 15 Reverse

14 Danfoss A/S © 12/2015 All rights reserved. MG92F102

4.5.2 Status Word under Instances 100/150, Bit 07, No warning/warning

Bit 05, Not used

MG92F102 Danfoss A/S © 12/2015 All rights reserved. 15

4.5.3 Bus Reference Value under Instances

The frequency reference value is transmitted to the

4 4 Master ⇒ slave 16 bit

Table 4.9 Speed Reference Value

The bus reference has the following format: